CN112077872A

CN112077872A - Fixed-point self-maintenance robot for joints

Info

Publication number: CN112077872A
Application number: CN202010918616.2A
Authority: CN
Inventors: 王明雁
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2020-12-15

Abstract

The invention discloses a fixed-point self-maintenance robot at a joint, which belongs to the field of robots.

Description

Fixed-point self-maintenance robot for joints

Technical Field

The invention relates to the field of robots, in particular to a fixed-point self-maintenance robot at a joint.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the institute of workers, who have institutional, seating, standing, worship, lodging, and the like. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility.

As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. In combination with the application characteristics in these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities. Although there is no strict and accurate robot definition, we want some confidence in the nature of the robot: a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry, building industry and even military affairs.

Industrial robot arm is in the use, need continuous rotation, and the rotational frequency every day is high, it is general comparatively serious to lead to the wearing and tearing phenomenon of robot joint department, therefore robot joint department needs maintenance regularly, general maintenance mode, it adds lubricating oil to the joint department of robot, slow down wearing and tearing, but this kind of mode influences the use of robot, and the staff need carry out relatively great work load, simultaneously at the mechanical arm during operation, there is certain inhomogeneous condition of atress, lead to there being the serious problem of local wear in joint department, lead to the arm along with the extension of live time, the precision of its stability and operation worsens gradually.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a joint fixed-point self-maintenance robot, through the arrangement of an air supporting ball, when local stress is overlarge on a joint, the self-maintenance ball point at the position is stressed to extrude an external force contact layer, on one hand, an external oil bag is extruded, lubricating oil can diffuse to the self-maintenance ball point along an oil conveying pipe, and the effect of adding lubricating oil to a fixed point at a position with larger stress is realized, so that fixed-point lubricating self-maintenance is achieved, further, the abrasion is reduced, and the stability of the mechanical arm in use is improved.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The utility model provides a joint department fixed point self-maintenance type robot, includes the base, the arm is installed to the base upper end, the connecting axle is installed to the arm tip, the connecting axle below is equipped with a plurality of claws that snatch, snatch claw upper end fixedly connected with joint ball, the connecting axle lower extreme is excavated there are a plurality of joint grooves that match with the joint ball, the excavation of joint ball middle part has central oil storage chamber, central oil storage chamber middle part is equipped with the gas support ball, joint ball surface mosaic has a plurality of evenly distributed's self-maintenance ball point, joint ball inside is inlayed and is had a plurality of outer oil bags that correspond with self-maintenance ball point, the joint ball inside is excavated there are a plurality of branch oil ducts corresponding with outer oil bag, branch oil duct intercommunication outer oil bag and central oil storage chamber, gas support ball tip runs through branch oil duct and extends to in the outer oil bag, the one end fixedly connected with external force touch layer that outer oil bag is close to self-maintenance ball point, the end part of the external force contact layer is fixedly connected with a support rod, the support rod extends into the external oil bag, the internal force contact layer is fixedly connected inside the external oil bag, the internal force contact layer is covered outside the gas supporting ball, one end of the support rod, far away from the external force contact layer, is fixedly connected with the internal force contact layer, an oil conveying pipe is connected between the external oil bag and the self-maintenance ball point, lubricating oil is filled in the external oil bag and the central oil storage cavity, through the arrangement of the gas supporting ball, when local stress of the joint is overlarge, the self-maintenance ball point of the joint extrudes the external force contact layer under stress, on one hand, the external oil bag is extruded, the lubricating oil can diffuse to the self-maintenance ball point along the oil conveying pipe, the effect of adding the lubricating oil to the fixed point at the position with larger stress is realized, thereby the lubrication self-maintenance at the fixed point is achieved, further the abrasion is reduced, the stability of the mechanical arm in use is improved, on the, make the expansion of center balloon, extrude lubricating oil and enter into outer oil pocket to constantly supply its inside lubricating oil, compare in prior art, effectively reduce the work load that the staff mended lubricating oil regularly.

Further, the vaulting pole is the stereoplasm structure, makes it have certain bearing capacity to can in time react to the power that produces oil layer department and receive, be convenient for lubricating oil in time to producing oil layer department and removing, realize the effect of fixed point benefit lubricating oil, realize the self-maintenance of fixed point, effectively reduce wearing and tearing, improve stability, the layer is touched to internal force is elasticity porous structure, when making it receive the extrusion, can take place deformation and produce the squeezing action to its inside outer gas layer, and the central balloon inflation of being convenient for makes lubricating oil in the connecting rod be extruded and is supplemented towards outer oil pocket department, thereby effectively reduces the operation of staff's regular automatic benefit lubricating oil.

Further, the autotrophy ball point includes the inlayer and connects the play oil layer at the inlayer tip, the inlayer contacts with external force and does not have the atress contact between the layer, go out oil layer tip and extend to the joint ball outside and contact with joint groove inner wall.

Furthermore, the oil outlet layer is of a multi-way through hole hard structure, so that lubricating oil overflowing from the oil outlet ball control position can be dispersed towards the inner wall of the joint groove at the oil outlet layer, one end of the oil delivery pipe extends into the embedded layer, and the other end of the oil delivery pipe penetrates through the outer oil bag and extends to the bottom of the outer oil bag.

Further, defeated oil pipe is located a plurality of dispersion palps of embedded intraformational tip fixedly connected with, dispersion palps tip fixedly connected with goes out oil accuse ball, the dispersion palps communicates with each other with defeated oil pipe, through the setting of dispersion palps and play oil accuse ball, effectively with defeated oil pipe department to the lubricating oil that overflows in the autotrophy ball point, more even dispersion, the surface of being convenient for go out oil layer department and joint groove contact can keep the lubricity for frictional force is littleer.

Furthermore, the oil outlet control ball is of an elastic porous hollow structure, when the stress of the autotrophic ball point is large, the external force contact layer is extruded, the external oil bag is compressed, on one hand, lubricating oil can diffuse towards the oil outlet layer along the oil conveying pipe, the dispersing beard and the oil outlet control ball, the oil outlet control ball is extruded by the lubricating oil, the pore is enlarged, the lubricating oil can conveniently overflow, on the other hand, the internal force contact layer is deformed by the force from the external force contact layer and the support rod, the internal external gas layer is extruded, the gas in the external gas layer enters the central balloon and expands, so that the lubricating oil in the central gas ball is extruded to enter the internal force contact layer along the branch oil passage and enters the external oil bag to supplement the lubricating oil, the dispersing beard end part and the oil outlet control ball extend into the oil outlet layer, when the autotrophic ball point is not stressed or is stressed very little, namely, the joint of the robot is not stressed locally and unevenly, the extrusion force from the lubricating oil received by the oil outlet control ball is small, and the lubricating oil cannot flow out at the moment, so that the lubricating oil at the joint of the robot is effectively ensured to only overflow when receiving uneven force or locally stressed greatly, and fixed-point lubrication maintenance is realized.

Further, the gas props the ball including being located the intraformational outer gas layer of internal force touch, being located the central balloon of central oil storage intracavity and connecting rod between central balloon and outer gas layer, outer gas layer and the inside inert gas that all packs of central balloon, and the mutual intercommunication of three.

Further, the outer gas layer and the central balloon are both elastic structures, so that inert gas can be transferred between the outer gas layer and the central balloon, and the connecting rod is of a hard structure.

Furthermore, the filling degree of the inert gas in the outer gas layer and the central balloon is saturated, so that the outer gas layer can deform in time after being subjected to certain extrusion force, and the auxiliary effect on lubricating oil transfer is better.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme passes through the setting of gas props the ball, when the local atress is too big takes place for the joint department, the layer is touched to autotrophy ball point atress extrusion external force of this department, on the one hand outside oil pocket is extruded, lubricating oil can be along defeated oil pipe to the diffusion of autotrophy ball point department, the realization is to the effect of the fixed point interpolation lubricating oil of the great department of atress, thereby reach the lubricated self-curing of fixed point, and then reduce wearing and tearing, stability when improving the arm use, on the other hand, the outer gas layer of gas props the ball is extruded, make the inflation of center balloon, extrude lubricating oil and enter into in the outer oil pocket, thereby constantly supply its inside lubricating oil, compare in prior art, effectively reduce the work load that the staff mended lubricating.

(2) The vaulting pole is the stereoplasm structure, make it have certain bearing capacity, thereby can in time react to the power that produces oil layer department and receive, be convenient for lubricating oil in time to producing oil layer department removal, realize the effect of fixed point benefit lubricating oil, realize the self-maintenance of fixed point, effectively reduce wearing and tearing, improve stability, the layer is touched to the internal force is elasticity porous structure, when making it receive the extrusion, can take place deformation and produce the squeezing action to its inside outer gas layer, the central balloon inflation of being convenient for, make lubricating oil in the connecting rod by the extrusion supplement towards outer oil pocket department, thereby effectively reduce the operation that the staff mends lubricating oil regularly automatically.

(3) The autotrophic ball point comprises an embedded layer and an oil outlet layer connected to the end part of the embedded layer, the embedded layer is not in stress contact with the external force contact layer, and the end part of the oil outlet layer extends to the outer side of the joint ball and is in contact with the inner wall of the joint groove.

(4) The oil layer is for leading to the thru hole stereoplasm structure that leads to more, and the lubricating oil that the accuse ball department of being convenient for spills over can be in oil layer department towards joint groove inner wall dispersion, and defeated oil pipe one end tip extends to embedded in situ, and defeated oil pipe other end runs through outer oil pocket and extends to outer oil pocket bottom.

(5) Defeated oil pipe is located a plurality of dispersion palps of embedded intraformational tip fixedly connected with, and dispersion palps tip fixedly connected with goes out oil accuse ball, and the dispersion palps communicate with each other with defeated oil pipe, through dispersion palps and the setting of going out oil accuse ball, effectively with the lubricating oil that overflows in defeated oil pipe department to autotrophy ball point, more even dispersion, the surface of the oil layer department of being convenient for and joint groove contact can keep the lubricity for frictional force is littleer.

(6) The oil outlet control ball is of an elastic porous hollow structure, when the stress of the autotrophic ball point is large, the external force contact layer is extruded, the external oil bag is compressed, on one hand, lubricating oil can diffuse towards the oil outlet layer along the oil conveying pipe, the dispersion beard and the oil outlet control ball, the oil outlet control ball is extruded by the lubricating oil, the pores are enlarged, and the lubricating oil can conveniently overflow, on the other hand, the internal force contact layer is deformed by the force from the external force contact layer and the support rod, the internal external gas layer is extruded, the gas in the external gas layer enters the central balloon to expand, so that the lubricating oil in the central balloon is extruded to enter the internal force contact layer along the branch oil duct and enter the external oil bag to supplement the lubricating oil, the dispersion beard end part and the oil outlet control ball extend into the oil outlet layer, when the autotrophic ball point is not stressed locally or is stressed unevenly when the joint of the robot is not stressed, the extrusion force from the lubricating oil received by the oil outlet control ball is small, and the lubricating oil cannot flow out at the moment, so that the lubricating oil at the joint of the robot is effectively ensured to only overflow when receiving uneven force or locally stressed greatly, and fixed-point lubrication maintenance is realized.

(7) The gas props the ball including being located the intraformational outer gas layer of internal force touch, being located the central balloon of central oil storage intracavity and connecting rod of connection between central balloon and outer gas layer, outer gas layer and the inside inert gas that all packs of central balloon, and the mutual intercommunication of three.

(8) The outer gas layer and the central balloon are both elastic structures, so that inert gas can be transferred between the outer gas layer and the central balloon, and the connecting rod is of a hard structure.

(9) The inert gas filling degree in outer gas layer and the central balloon is filled for saturation to make certain deformation can in time take place after the outer gas layer receives certain extrusion force, make the additional action to the lubricating oil transfer better.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the structure at the robot of the present invention;

FIG. 3 is a front view of the robot joint according to the present invention;

FIG. 4 is a schematic structural view of a cross section at a joint of the robot of the present invention;

FIG. 5 is a schematic view of the structure at A in FIG. 4;

FIG. 6 is a schematic structural view of the gas strut ball of the present invention located at the inner end of the outer oil reservoir;

fig. 7 is a schematic structural diagram of a dispersing whisker portion of the invention.

The reference numbers in the figures illustrate:

the automatic oil-discharging device comprises a base 1, a mechanical arm 2, a grabbing claw 3, a connecting shaft 4, a joint groove 5, a joint ball 6, an autotrophic ball point 7, an oil outlet layer 71, an embedded layer 72, an outer gas layer 91, a connecting rod 93, a central balloon 92, a branch oil duct 101, a central oil storage cavity 102, an outer oil bag 103, an oil delivery pipe 104, a supporting rod 121, an inner force contact layer 122, an outer force contact layer 123, dispersing whiskers 13 and an oil-discharging control ball 14.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-2, a fixed-point self-maintenance robot at a joint comprises a base 1, a mechanical arm 2 is mounted at the upper end of the base 1, a connecting shaft 4 is mounted at the end of the mechanical arm 2, a plurality of grabbing claws 3 are arranged below the connecting shaft 4, joint balls 6 are fixedly connected to the upper ends of the grabbing claws 3, and a plurality of joint grooves 5 matched with the joint balls 6 are formed in the lower end of the connecting shaft 4 in a chiseled mode.

Referring to fig. 3-5, a central oil storage cavity 102 is cut in the middle of the joint ball 6, an air supporting ball is arranged in the middle of the central oil storage cavity 102, a plurality of uniformly distributed autotrophic ball points 7 are embedded in the surface of the joint ball 6, each autotrophic ball point 7 comprises an inner embedded layer 72 and an oil outlet layer 71 connected to the end of the inner embedded layer 72, the inner embedded layer 72 is in stress-free contact with the external force contact layer 123, the end of the oil outlet layer 71 extends to the outer side of the joint ball 6 and is in contact with the inner wall of the joint groove 5, the oil outlet layer 71 is a multi-way through hole hard structure, so that lubricating oil overflowing from the oil outlet control ball 14 can be dispersed towards the inner wall of the joint groove 5 at the oil outlet layer 71, one end of the oil delivery pipe 104 extends into the inner embedded layer 72, and the other end of the oil delivery pipe 104 penetrates through;

a plurality of outer oil bags 103 corresponding to the autotrophic ball point 7 are embedded in the joint ball 6, a plurality of branch oil ducts 101 corresponding to the outer oil bags 103 are drilled in the joint ball 6, the branch oil ducts 101 are communicated with the outer oil bags 103 and the central oil storage cavity 102, the end parts of the air supporting balls penetrate through the branch oil ducts 101 and extend into the outer oil bags 103, one end, close to the autotrophic ball point 7, of the outer oil bag 103 is fixedly connected with an external force contact layer 123, the end parts of the external force contact layer 123 are fixedly connected with a support rod 121, the support rod 121 extends into the outer oil bag 103, the inner force contact layer 122 is fixedly connected in the outer oil bag 103, the inner force contact layer 122 is covered outside the air supporting balls, one end, far away from the external force contact layer 123, of the support rod 121 is fixedly connected with the inner force contact layer 122, an oil conveying pipe 104 is connected between the outer oil bag 103 and the autotrophic ball point 7, lubricating oil is filled in the outer oil bags 103 and the central oil storage cavity 102, the support rod 121 is of a hard, thereby can in time make the reaction to the power that produces oil layer 71 department and receive, be convenient for lubricating oil in time to producing oil layer 71 department removal, realize the effect of fixed point benefit lubricating oil, realize the self-maintenance of fixed point, effectively reduce wearing and tearing, improve stability, layer 122 is touched to internal force is elasticity porous structure, when making it receive the extrusion, can take place deformation and produce the squeezing action to its inside outer gas layer 91, be convenient for center balloon 92 inflation, make lubricating oil in the connecting rod 93 be extruded and supply towards outer oil bag 103 department, thereby effectively reduce the operation that the regular automatic benefit lubricating oil of staff.

Please refer to fig. 6, the gas-supported ball includes an outer gas layer 91 located in the inner force contact layer 122, a center balloon 92 located in the center oil storage cavity 102, and a connecting rod 93 connected between the center balloon 92 and the outer gas layer 91, the inner parts of the outer gas layer 91 and the center balloon 92 are filled with inert gas, and the three are communicated with each other, the outer gas layer 91 and the center balloon 92 are both elastic structures, so that the inert gas can be transferred between the two, the connecting rod 93 is a hard structure, the filling degree of the inert gas in the outer gas layer 91 and the center balloon 92 is saturated and filled, so that the outer gas layer 91 can timely generate certain deformation after receiving certain extrusion force, and the auxiliary effect on the transfer of lubricating oil is better.

Referring to fig. 7, the end of the oil pipe 104 in the embedded layer 72 is fixedly connected with a plurality of dispersing whiskers 13, the end of the dispersing whiskers 13 is fixedly connected with an oil outlet control ball 14, the dispersing whiskers 13 are communicated with the oil pipe 104, the arrangement of the dispersing whiskers 13 and the oil outlet control ball 14 effectively disperses the lubricating oil overflowing from the oil pipe 104 to the autotrophic ball point 7 more uniformly, so that the surface of the oil outlet layer 71 contacting with the joint groove 5 can keep lubricity, and the friction force is smaller, the oil outlet control ball 14 is of an elastic porous hollow structure, when the autotrophic ball point 7 is stressed more, the external force contact layer 123 is squeezed, the external oil pocket 103 is compressed, on one hand, the lubricating oil can diffuse toward the oil outlet layer 71 along the oil pipe 104, the dispersing whiskers 13 and the oil outlet control ball 14, the oil outlet control ball 14 is squeezed, the pores are enlarged, and the lubricating oil is convenient to overflow, on the other hand, the internal force contact layer 122 is stressed by the external force contact layer 123 and the strut 121, deformation occurs, the outer gas layer 91 inside the outer gas layer 91 is extruded, gas inside the outer gas layer 91 enters the center balloon 92 to enable the center balloon to expand, lubricating oil in the center balloon 92 is extruded to enter the inner force contact layer 122 along the branch oil duct 101 and enters the outer oil bag 103 to supplement the lubricating oil inside the center balloon, the end part of the dispersing beard 13 and the oil outlet control ball 14 extend into the oil outlet layer 71, the extrusion force of the oil outlet control ball 14 from the lubricating oil is small when the autotrophic ball point 7 is not stressed or is stressed slightly, namely when the joint of the robot is not stressed locally and unevenly, the lubricating oil cannot flow out, and therefore the lubricating oil at the joint of the robot is effectively guaranteed to overflow only when the lubricating oil is stressed unevenly or locally and greatly, and fixed-point lubrication maintenance is achieved.

Through the setting of gas props the ball, when the local atress of joint department takes place too big, layer 123 is touched to autotrophy ball point 7 atress extrusion external force of this department, on the one hand outside oil pocket 103 is extruded, lubricating oil can be along defeated oil pipe 104 to the diffusion of autotrophy ball point 7 department, the realization is to the effect of the fixed point interpolation lubricating oil of the great department of atress, thereby reach the lubricated self-maintenance of fixed point, and then reduce wear, stability when improving arm 2 uses, on the other hand, outer gas layer 91 of gas props the ball is extruded, make central balloon 92 inflation, extrusion lubricating oil enters into in the outer oil pocket 103, thereby constantly supply its inside lubricating oil, compare in prior art, effectively reduce the work load that the staff mended lubricating oil regularly.

The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.

Claims

1. The utility model provides a joint department fixed point is from maintenance type robot, includes base (1), arm (2) are installed to base (1) upper end, connecting axle (4) are installed to arm (2) tip, connecting axle (4) below is equipped with a plurality of claws (3) of snatching, snatch claw (3) upper end fixedly connected with joint ball (6), connecting axle (4) lower extreme is opened the chisel and is had a plurality of and joint ball (6) assorted joint groove (5), its characterized in that: the joint ball (6) middle part is excavated and is provided with a central oil storage cavity (102), the central oil storage cavity (102) middle part is provided with an air supporting ball, the surface of the joint ball (6) is embedded with a plurality of autotrophic ball points (7) which are uniformly distributed, the joint ball (6) is internally embedded with a plurality of outer oil bags (103) corresponding to the autotrophic ball points (7), the joint ball (6) is internally excavated with a plurality of branch oil ducts (101) corresponding to the outer oil bags (103), the branch oil ducts (101) are communicated with the outer oil bags (103) and the central oil storage cavity (102), the end part of the air supporting ball penetrates through the branch oil ducts (101) and extends into the outer oil bags (103), the outer oil bags (103) are close to one end fixedly connected with an external force contact layer (123) of the autotrophic ball points (7), the end part of the external force contact layer (123) is fixedly connected with a supporting rod (121), and the supporting rod (121) extends into the outer oil bags (103), layer (122) is touched to the internal force of outer oil bag (103) inside fixedly connected with, the internal force touches layer (122) cover and establishes outside the gas strut ball, layer (122) fixed connection is touched with internal force to the one end that layer (123) was touched to external force is kept away from in vaulting pole (121), be connected with defeated oil pipe (104) between outer oil bag (103) and autotrophy ball point (7), all pack in outer oil bag (103) and the central oil storage chamber (102) lubricating oil.

2. The fixed point self-curing robot at the joint according to claim 1, wherein: the support rod (121) is of a hard structure, and the inner force contact layer (122) is of an elastic porous structure.

3. The fixed point self-curing robot at the joint according to claim 1, wherein: autotrophy ball point (7) include inlayer (72) and be connected in play oil layer (71) of inlayer (72) tip, no atress contact between inlayer (72) and the external force contact layer (123), play oil layer (71) tip extend to joint ball (6) the outside and with joint groove (5) inner wall contact.

4. The fixed point self-curing robot at the joint according to claim 3, wherein: the oil outlet layer (71) is of a multi-way through hole hard structure, one end of the oil delivery pipe (104) extends into the embedded layer (72), and the other end of the oil delivery pipe (104) penetrates through the outer oil bag (103) and extends to the bottom of the outer oil bag (103).

5. The fixed point self-curing robot at the joint according to claim 4, wherein: the oil delivery pipe (104) is located the tip fixedly connected with a plurality of dispersion palps (13) in inlayed layer (72), dispersion palps (13) tip fixedly connected with goes out oil accuse ball (14), dispersion palps (13) communicate with each other with oil delivery pipe (104).

6. The fixed point self-curing robot at the joint according to claim 5, wherein: the oil outlet control ball (14) is of an elastic porous hollow structure, and the end part of the dispersing beard (13) and the oil outlet control ball (14) extend into the oil outlet layer (71).

7. The fixed point self-curing robot at the joint according to claim 1, wherein: the gas props the ball and includes outer gas layer (91) that is located interior power touch layer (122), is located central balloon (92) and connection connecting rod (93) between central balloon (92) and outer gas layer (91) of central oil storage chamber (102), outer gas layer (91) and central balloon (92) inside all is filled with inert gas, and the three communicates each other.

8. The fixed point self-curing robot at the joint according to claim 7, wherein: the outer gas layer (91) and the central balloon (92) are both elastic structures, and the connecting rod (93) is a hard structure.

9. The fixed point self-curing robot at the joint according to claim 7, wherein: the inert gas filling degree in the outer gas layer (91) and the central balloon (92) is saturation filling.